Fire Bird V ATMEGA2560 Hardware Manual
C7
IR Proximity sensor 7
The Robot will return an 8 bit analog value of the IR Proximity
sensor 7
C8
IR Proximity sensor 8
The Robot will return an 8 bit analog value of the IR Proximity
sensor 8
C9
Sharp IR range sensor 1 data
The Robot will return 8 bit value which indicates distance
between the obstacle and Sharp sensor.
CA
Sharp IR range sensor 5 data
The Robot will return 8 bit value which indicates distance
between the obstacle and Sharp sensor.
Table 7.3
7.5.4 Commands to turn on / off the buzzer:
69
Turn on the buzzer.
6A
Turn off the buzzer.
Table 7.4
7.5.5 Robot Version Signature
6B
If 6B is sent to the robot will send back its ID
Table 7.5
7.5.6 Position encoder data:
Position encoder pulse count for the position tracking:
72
The robot will return lower byte of the pulse count for the left
motor
.
73
The robot will return upper byte of the pulse count for left motor.
79
The robot will return lower byte of the pulse count for the right
motor
.
7 A
The robot will return upper byte of the pulse count for right
motor.
Table 7.6
Note:
To get an actual pulse count, combine the lower byte and upper byte to get a 16 bit value.
For more information on the position encoder resolution refer to the section 3.9.
© NEX Robotics Pvt. Ltd. and ERTS Lab, CSE, IIT Bombay, INDIA 119
